ahrs_infrared.c File Reference

Attitude estimation using infrared sensors detecting the horizon. More...

#include "modules/ahrs/ahrs_infrared.h"
#include "subsystems/sensors/infrared.h"
#include "subsystems/imu.h"
#include "subsystems/gps.h"
#include "state.h"
#include "subsystems/abi.h"
#include "subsystems/datalink/telemetry.h"

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Macros
#define	INFRARED_FILTER_ID   2
#define	AHRS_INFRARED_GYRO_ID   ABI_BROADCAST
	ABI binding for gyro data. More...
#define	AHRS_INFRARED_GPS_ID   GPS_MULTI_ID

Functions
void	ahrs_infrared_update_gps (struct GpsState *gps_s)
static void	gyro_cb (uint8_t sender_id, uint32_t stamp, struct Int32Rates *gyro)
static void	gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
static void	send_infrared (struct transport_tx *trans, struct link_device *dev)
static void	send_status (struct transport_tx *trans, struct link_device *dev)
void	ahrs_infrared_init (void)
void	ahrs_infrared_periodic (void)

Variables
static float	heading
static abi_event	gyro_ev
static abi_event	gps_ev

Detailed Description

Attitude estimation using infrared sensors detecting the horizon.

For fixedwings only:

• GPS course is used as heading.
• ADC channels can be used for gyros.

Definition in file ahrs_infrared.c.

Macro Definition Documentation

#define AHRS_INFRARED_GPS_ID   GPS_MULTI_ID

Definition at line 56 of file ahrs_infrared.c.

Referenced by ahrs_infrared_init().

#define AHRS_INFRARED_GYRO_ID   ABI_BROADCAST

ABI binding for gyro data.

Used for gyro ABI messages.

Definition at line 51 of file ahrs_infrared.c.

Referenced by ahrs_infrared_init().

#define INFRARED_FILTER_ID   2

Definition at line 42 of file ahrs_infrared.c.

Referenced by send_status().

Function Documentation

void ahrs_infrared_init

(

void

)

Definition at line 96 of file ahrs_infrared.c.

References AHRS_INFRARED_GPS_ID, AHRS_INFRARED_GYRO_ID, DefaultPeriodic, gps_cb(), gyro_cb(), heading, register_periodic_telemetry(), send_infrared(), and send_status().

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void ahrs_infrared_periodic

(

void

)

Definition at line 126 of file ahrs_infrared.c.

References Infrared::correction_down, Infrared::correction_left, Infrared::correction_right, Infrared::correction_up, heading, infrared, FloatEulers::phi, Infrared::pitch, Infrared::pitch_neutral, Infrared::roll, Infrared::roll_neutral, stateSetNedToBodyEulers_f(), FloatEulers::theta, and Infrared::top.

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void ahrs_infrared_update_gps

(

struct GpsState *

gps_s

)

Definition at line 110 of file ahrs_infrared.c.

References GpsState::course, GpsState::gspeed, heading, stateGetHorizontalWindspeed_f(), FloatVect2::x, and FloatVect2::y.

Referenced by gps_cb().

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static void gps_cb ( uint8_t  sender_id, uint32_t  stamp, struct GpsState *  gps_s  )

static

Definition at line 68 of file ahrs_infrared.c.

References ahrs_infrared_update_gps().

Referenced by ahrs_infrared_init().

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static void gyro_cb ( uint8_t  sender_id, uint32_t  stamp, struct Int32Rates *  gyro  )

static

Definition at line 61 of file ahrs_infrared.c.

References stateSetBodyRates_i().

Referenced by ahrs_infrared_init().

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static void send_infrared ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 79 of file ahrs_infrared.c.

References infrared, Infrared_raw::ir1, Infrared_raw::ir2, Infrared::pitch, Infrared::roll, Infrared::top, and Infrared::value.

Referenced by ahrs_infrared_init().

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static void send_status ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 85 of file ahrs_infrared.c.

References infrared, INFRARED_FILTER_ID, Infrared::pitch, Infrared::roll, and Infrared::top.

Referenced by ahrs_infrared_init().

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Variable Documentation

abi_event gps_ev

static

Definition at line 58 of file ahrs_infrared.c.

abi_event gyro_ev

static

Definition at line 53 of file ahrs_infrared.c.

float heading

static

Definition at line 45 of file ahrs_infrared.c.

Referenced by ahrs_infrared_init(), ahrs_infrared_periodic(), ahrs_infrared_update_gps(), autopilot_guided_goto_body_relative(), autopilot_guided_goto_ned_relative(), guidance_h_set_guided_heading(), gvf_line(), mavlink_send_global_position_int(), mavlink_send_vfr_hud(), stabilization_attitude_get_heading_f(), stabilization_attitude_get_heading_i(), stabilization_attitude_read_rc_setpoint_eulers(), stabilization_attitude_read_rc_setpoint_eulers_f(), stabilization_attitude_set_earth_cmd_i(), stabilization_indi_set_earth_cmd_i(), stereo_avoid_run(), and stereocam_droplet_periodic().